JP5455195B2 - Remote control device for agricultural machines - Google Patents

Description

  The present invention relates to a remote control device for a farm work machine that transmits a command signal for remotely operating a farm work machine provided with a wireless reception control device including an electronic board for controlling operation.

  Conventionally, when performing farming work such as tillage work and padding work, farm equipment corresponding to these farm work is connected to the rear part of the traveling machine body, and the farm equipment advances as the traveling machine body travels. Is called. Among such farm work machines, there is a farm machine configured such that an operator who has boarded the driver's seat of a traveling machine body can operate the farm work machine by remote control (see Patent Document 1).

  This remote control device for agricultural machine can be operated by a command device (remote control device) provided in the driver's seat of the traveling machine body, and the operation of the agricultural machine according to a command signal from the command device. And a reception control device for controlling. The command device and the reception control device include a wired method in which the command device and the reception control device are electrically connected via an electric wire or the like, and a wireless method in which an operation command of the command device is transmitted to the reception control device by a radio signal.

  The reception control device includes a control box that houses therein an electronic board that controls the operation of the agricultural machine according to a command signal from the command device. In the case of the wired system, an electric wire or the like is connected to the electronic board accommodated in the control box, and a command signal from the command device is transmitted to the electronic board.

JP 10-337102 A

  In the conventional wireless remote control device (command device), the intensity of the radio wave transmitted to command various operations of the farm work machine is transmitted with the same intensity as the intensity of the radio wave that sends a command for any operation. Depending on the operation of the agricultural machine, there is an operation that is desired to be operated with a remote control device from a position far from the agricultural machine. In some cases, it is preferable to operate the remote control device after approaching the agricultural machine. As in the past, when the intensity of the radio wave that sends a command for any operation is the same, the remote control device that is set to a radio wave output intensity that can be operated from a distance from the agricultural machine will approach the agricultural machine. Even when a command that is preferable to be operated from a remote control device is sent, it becomes possible to operate from a position far away from the agricultural machine, so there is a possibility that it may become a less desirable situation in terms of safety was there.

  In view of the above problems, an object of the present invention is to provide a remote controller for an agricultural machine that allows an operator to operate various operations of the agricultural machine from a preferable distance and can improve safety.

  The remote control device for agricultural machinery according to the present invention is configured as follows in order to achieve the above object.

The first remote control device for agricultural machinery (corresponding to claim 1) operates the agricultural machinery according to the command signal included in the radio wave received by the antenna provided in the agricultural machinery installed at the rear of the traveling machine body. A remote control device for transmitting a radio wave including a command signal to a radio reception control device to be controlled, a command for sending a power source, a power switch for turning on / off the power source, and a command signal for controlling various operations of the farm work machine A switch, a storage means for storing command signal data for controlling various operations, and a radio wave carrying the command signal when the power switch is on, and a command based on the command signal data when the command switch is turned on Communication means for transmitting signals on radio waves, and control means for reading command signal data from the storage means and sending the command signal data to the communication means when the command switch is turned on The reply is completed based on the reply radio wave receiving means for receiving the reply radio wave transmitted by the wireless reception control device that has received the radio wave transmitted from the communication means, and the reply radio wave received by the reply radio wave receiving means. An output control means for controlling the output of the radio wave output when the command switch is operated for each command signal for controlling various operations. The radio reception control device uses a battery provided in the traveling machine body as a power source, and uses a key switch provided in the traveling machine body as a power switch, and the farm work machine plows the cultivated soil in the field. A tilling work machine, the tilling work machine is attached to a work machine body extending in the left-right direction, and to be foldable vertically on both left and right sides of the work machine body. A retractable extension work machine body, and a pivot mechanism connected between the work machine body and the extension work machine body, wherein the extension work machine body is stored at a position above the work machine body. And a work position that is disposed at a side position of the work machine body and capable of working, and the turning mechanism moves the extension work machine body between a storage position and a work position. has a pivoting cylinder for pivoting the pivot cylinder, operated by the wireless reception control apparatus is characterized Rukoto controlled.

  In the above-mentioned agricultural machine remote control device, a wireless reception control device for controlling the operation of the agricultural machine according to a command signal included in the radio wave received by the antenna provided in the agricultural machine mounted on the rear part of the traveling machine body, A remote control device for transmitting a radio wave including a command signal, which controls a power source, a power switch for turning on and off the power source, a command switch for sending command signals for controlling various operations of the agricultural machine, and various operations When the power switch is on, the storage means for storing the command signal data and a radio wave carrying the command signal are transmitted. When the command switch is turned on, the command signal is transmitted on the radio wave based on the command signal data. A communication means and a control means for reading the command signal data from the storage means and sending the command signal data to the communication means when the command switch is turned on; In addition, since it has output control means for performing control to adjust and output the intensity of the radio wave output when operating the command switch for each command signal for controlling various operations, the intensity of the radio wave for sending commands for various operations is Therefore, when operation at a distance from the farm machine is preferable, it is possible to operate from a distance, and when it is preferable to operate with a remote control device after approaching the farm machine, It is possible to prevent operation from a position far away from the machine. Thereby, the operator can operate various operations of the agricultural machine from a preferable distance, and safety can be improved.

  In the above configuration, the second remote control device for agricultural machines (corresponding to claim 2) is preferably characterized in that the command signal data includes command data for controlling various operations and radio wave output intensity data. .

  The third remote control device for agricultural machinery (corresponding to claim 3) is preferably configured as described above, wherein the output control means outputs the radio wave carrying the command data in accordance with the radio wave output intensity data included in the command signal data. The strength is adjusted.

  According to the remote control device for agricultural machinery according to the present invention, wireless reception for controlling the operation of the agricultural machinery according to the command signal included in the radio wave received by the antenna provided in the agricultural machinery installed at the rear of the traveling machine body. A remote control device that transmits a radio wave including a command signal to a control device, a power source, a power switch for turning on and off the power source, a command switch for sending command signals for controlling various operations of the farm work machine, and various types Storage means for storing command signal data for controlling the operation, and when the power switch is turned on, a radio wave carrying the command signal is transmitted, and when the command switch is turned on, the command signal is converted into a radio wave based on the command signal data. Communication means for loading and transmitting, and control means for reading command signal data from the storage means and sending the command signal data to the communication means when the command switch is turned on. The communication means includes output control means for performing control to adjust and output the intensity of the radio wave output when operating the command switch for each command signal for controlling various operations. Since the strength is adjusted for each operation, when operation far away from the farm equipment is preferable, it is possible to operate from far away, and it is preferable to operate with the remote control device after approaching the farm equipment Can be prevented from being operated from a position far away from the agricultural machine. Thereby, the operator can operate various operations of the agricultural machine from a preferable distance, and safety can be improved.

The top view of the tillage working machine carrying the radio | wireless reception control apparatus operated using the remote control apparatus for agricultural machines concerning one Embodiment of this invention is shown. 1 shows a tillage working machine equipped with a wireless reception control device that is operated using a remote control device for an agricultural machine according to an embodiment of the present invention, and FIG. FIG. 2B is a side view of the tillage working machine when the extension work machine body of the tilling work machine is in the working position. The rear view of the tillage working machine carrying the radio | wireless reception control apparatus operated using the remote control apparatus for agricultural machines concerning one Embodiment of this invention is shown. The radio | wireless reception control apparatus operated using the remote control apparatus for agricultural machines concerning one Embodiment of this invention is shown, The same figure (a) is a top view of a radio | wireless reception control apparatus when a tilling work machine is in a working state. FIG. 5B shows a cross-sectional view of a portion corresponding to the arrow I-I in FIG. The control box of the radio | wireless reception control apparatus operated using the remote control apparatus for agricultural machines concerning one Embodiment of this invention is shown, The figure (a) is a back view of a control box, The figure (b) is a control box. FIG. 2C is a side view in the width direction of the control box. The top view of a tilling work machine in the state where the tilling work machine carrying the radio reception control device operated using the remote control device for farm work machines concerning one embodiment of the present invention is in the state currently held by the caster stand is shown. 1 shows a tillage working machine mounted on a caster stand equipped with a wireless reception control device that is operated using a remote control device for a farm working machine according to an embodiment of the present invention, and FIG. It is a side view of a tilling work machine when a body is in a storing position, and the figure (b) is a side view of a tilling work machine when an extension work body of a tilling work machine is in a working position. It is a functional block diagram of the radio | wireless reception control apparatus operated using the remote control device for agricultural machines concerning one Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is an external view of the remote control device for agricultural machines which concerns on 1st Embodiment of this invention. It is a functional block diagram of the remote control device for agricultural machines according to the first embodiment of the present invention. It is a functional block diagram of the control part of the remote control device for agricultural machines which concerns on 1st Embodiment of this invention. It is a flowchart explaining the procedure performed by the control program at the time of starting in the remote control device for agricultural machines which concerns on 1st Embodiment of this invention. It is a flowchart explaining the procedure performed by a control program when each switch in the remote control device for agricultural machines according to the first embodiment of the present invention is pressed.

  Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

  First, before explaining the remote control device for agricultural machines, a tilling machine equipped with a wireless reception control device will be described. In the present embodiment, a description will be given of an example of a tilling work machine that tills the cultivated soil in the field. As an example of a farm work machine, it is not restricted to a tillage work machine, A hull coater and a ditch work machine may be used.

  As shown in FIG. 1 (plan view), FIG. 2 (a) (side view), and FIG. 3 (rear view), the tillage working machine 1 is attached to the rear portion of the traveling machine body 90 and moves forward with the traveling machine body 90 moving forward. Proceeds with plowing work. Fig.2 (a) shows the side view of the tilling work machine 1 corresponded to the IIa-IIa arrow view of FIG. 1 when the extension work machine body 30 of the tilling work machine 1 is in the folded state. In FIG. 2A, the extension work machine body 30 is omitted from the viewpoint of facilitating understanding of the drawing. The tillage work machine 1 includes a work machine main body 10 that extends in the left-right direction (hereinafter, simply referred to as “left-right direction”) with respect to the traveling direction, and an extension that is foldably attached to the left and right sides of the work machine main body 10 in a vertical direction. The work machine body 30 is configured.

  The work machine main body 10 of the tillage work machine 1 has a main body frame 11 extending in the left-right direction. On the front side of the main body frame 11, a top mast and a lower link connecting part connected to a three-point link connecting mechanism provided at the rear part of the traveling machine body 90 are provided. Mounted so that it can be raised and lowered.

  A transmission case 14 and a support frame 15 are provided on both sides of the main body frame 11 in the left-right direction, and a tilling rotor 17 is rotatably supported between the lower sides thereof. Further, side frames 5 extending in the front-rear direction are provided on both sides in the left-right direction of the main body frame 11, and the posture of the front frame when the tilling work machine 1 is attached to and detached from the traveling machine body 90 at the front end of the side frame 5. A holder 16 is provided for attaching a stand 7 with casters (see FIG. 6A) for keeping the temperature constant.

  A gear box 19 having an input shaft 19a for inputting power from the traveling machine body 90 is provided at the center in the left-right direction of the main body frame 11, and the power extracted from the traveling machine body 90 is input to the input shaft 19a via a universal joint or the like. Is transmitted to. The power transmitted to the input shaft 19 a rotates the tilling rotor 17 via a power transmission mechanism provided in the main body frame 11 and the transmission case 14.

  A shield cover 18 is disposed above the tilling rotor 17, and a main body apron 20 is provided at the rear end portion of the shield cover 18 so that the front end portion is rotatably attached and the rear side extends obliquely rearward. A main body side leveler 22 is provided at the rear end of the main body apron 20 so as to be pivotable in the vertical direction.

  The tilling rotor 17 is configured such that a plurality of tilling claws are radially attached to a main-body-side rotating shaft 17 a that is rotatably supported between the transmission case 14 and the support frame 15. Drive side dog clutches 40 are attached to both ends of the main body side rotation shaft 17 a of the tilling rotor 17.

  The extension work machine body 30 can be folded via a turning mechanism 50 connected to the work machine body 10, and a turning shaft 56 provided in the turning mechanism 50 and extending in the front-rear direction is used as a turning fulcrum. It can be rotated between a storage position stored at an upper position of the work machine main body 10 and a work position Ps (see FIG. 1) which is disposed at a side position of the work machine main body 10 and can perform work.

The rotation mechanism 50 includes a hinge mechanism 51 provided between an upper part of the work machine body 10 on the extension work machine body 30 side and an upper part of the extension work machine body 30 on the work machine body 10 side, and an extension of the work machine body 10. A rotating plate 53 provided rotatably at the upper portion of the work machine side end portion, a rod side end portion pivoted to the rotation plate 53, and a bottom side end portion pivoted to the work machine main body 10. An electric hydraulic cylinder 57 as a moving cylinder is provided . The electric hydraulic cylinder 57 is of an electrohydraulic type, and its operation is controlled by a wireless reception control device described later.

  As shown in FIG. 1, FIG. 2B (side view), and FIG. 3, the extension work machine body 30 extends in the left-right direction and is supported rotatably, and above the extension tiller rotor 32. An extension side shield cover 33 for covering, an extension side apron 34 rotatably provided at the rear part, a first extension leveler 35 attached to the rear end part of the extension side apron 34 so as to be rotatable in the vertical direction, The second extension leveler 36 is attached to the end of the first extension leveler 35 so as to be rotatable in the vertical direction. FIG. 2B shows a side view of the tilling work machine 1 when the extension work machine body 30 is located at the work position Ps.

  The extension tillage rotor 32 is configured in the same manner as the tillage rotor 17, and is configured by radially attaching a plurality of tillage claws to an extension side rotation shaft that is rotatably supported between members provided on the left and right sides of the extension work machine body 30. ing. A driven-side dog clutch is attached to the work machine main body side end of the extension-side rotating shaft of the extension tillage rotor 32. The driven-side dog clutch is configured to be able to mesh with the driving-side dog clutch 40 (see FIG. 2A) that faces when the extension work machine body 30 moves to the work position Ps.

  The extension work machine body 30 is provided with an extension work machine body locking device 42. The extension work machine body locking device 42 locks the rotation of the extension work machine body 30 relative to the work machine body 10 when the extension work machine body 30 moves to the work position Ps, and the extension work machine body 30 moves from the work position Ps to the storage position side. When moved, the extended working machine body 30 is unlocked from the working machine body 10.

  When the extension work machine 30 is moved to the work position Ps, the extension apron 34 of the extension work machine 30 is connected to the left and right ends of the main body side apron 20 of the work machine main body 10, and the work machine The first extension leveler 35 of the extension work machine body 30 is connected to the left and right end portions of the main body side leveler 22 of the main body 10. Further, when the extended work machine 30 moved to the work position Ps is moved to the storage position side, these connections are released.

  A second extension leveler 36 is provided at the left and right ends of the first extension leveler 35. The second extension leveler 36 is attached so as to be pivotable in the vertical direction about a pivot shaft extending in the front-rear direction. The second extension leveler 36 includes a storage position stored above the first extension leveler 35 and a work position Ps (see FIG. 1) that is disposed at a side position of the first extension leveler 35 and can be operated. It is possible to rotate between them. The second extension leveler 36 can be rotated between the storage position and the work position Ps by a rotation device 44 provided on the extension-side shield cover 33 of the extension work machine body 30.

  The rotation device 44 includes a drive motor 46 and a link mechanism 45 that is connected between the drive shaft of the drive motor 46 and the second extension leveler 36 and rotates the second extension leveler 36 by the rotation of the drive shaft. Have. The operation of the drive motor 46 is controlled by a wireless reception control device to be described later.

  Next, the radio reception control apparatus will be described. The radio reception control device 70 receives a command signal from a manually operated radio command device (remote control device) 60 that commands an operation command for commanding the operation of the tilling work machine 1 by a radio signal, and responds to the received command signal. The operation of the tilling work machine 1 is controlled. That is, the wireless reception control device 70 is a receiving device that receives a command signal from the wireless command device 60 and is also a controller device that controls the operation of the tilling work machine 1 according to the received command signal.

  First, before describing the radio reception control device 70, the radio command device 60 will be outlined. As shown in FIG. 1, the radio command device 60 outputs radio signals of operation commands corresponding to the pressing operations of the plurality of operation buttons 61 so that the operator M who gets on the driver's seat 91 of the traveling machine body 90 can operate. Is configured to do. The wireless command device 60 has an operation box 62 having a size that can be gripped by the operator M by hand, and a plurality of operation buttons 61 are arranged on the surface of the operation box 62. The operation box 62 contains a signal output unit that outputs a radio signal, a battery that supplies power, and the like. When the operation button 61 is pressed, an operation command (command) corresponding to the operation button 61 is transmitted as a radio signal. Is output from the output unit. For the radio signal, a radio medium such as weak radio waves in the FM wavelength range or infrared rays is used.

  As shown in FIG. 4A (plan view), FIG. 4B (cross-sectional view), and FIG. It is being fixed to the attachment plate 71 provided in. The mounting plate 71 is provided so that the leg part 72 projects over the upper part on the back surface side. The leg portion 72 is fixed to an inverted U-shaped fixing portion 73 fixed to the main body frame 11 via fastening means such as a bolt 74, and the mounting plate 71 is fixed to the main body frame 11. An auxiliary cover 77 that closes a gap 75 between the main body frame 11 and the mounting plate 71 and a gap 76 formed between the main body frame 11 and the shield cover 18 is fixed to the fixing portion 73 by bolts 74. It is difficult for water to enter these gaps 75 and 76.

  The mounting plate 71 is inclined upward in the vertical direction in the working state of the tillage work machine 1. The inclination angle θ of the mounting plate 71 is an angle toward the operator who gets on the driver's seat of the traveling machine body 90 on which the tilling work machine 1 is mounted. The attachment plate 71 may be attached to the main body frame 11 so that the inclination angle thereof can be adjusted.

  The mounting plate 71 has a rectangular shape and has a size capable of installing the entire control box 82 described later. At the four corners of the mounting plate 71, through holes for mounting the control box 82 are provided. Further, a water flow direction changing plate 79 is provided at a substantially central portion of the back surface of the mounting plate 71 to change the direction of water flowing from the upper side to the lower side of the mounting plate 71 downward. The water flow direction changing plate 79 is formed by bending a sheet metal or the like, and is bent obliquely by bending from a fixing portion 79a extending in the vertical direction along the back surface of the mounting plate 71 and extending in the mounting plate width direction, and from a tip portion of the fixing portion 79a. It has a direction changing portion 79b extending downward.

  The direction changing portion 79b is bent with an obtuse angle β with respect to the fixed portion 79a. The bending angle β of the direction changing portion 79b is arranged in the lower portion on the back surface side of the mounting plate 71 so that the water flowing from the upper side to the lower side of the mounting plate 71 hits the direction changing portion 79b and flows downward. This is an angle at which water is not applied to the board side connector 104 and the drive side connector 106 described later.

  A radio reception control device 70 is mounted on the mounting plate 71. The wireless reception control device 70 includes a control box 82 that houses the electronic board 100 therein. As shown in FIG. 5 (a) (back view), FIG. 5 (b) (side view), and FIG. 5 (c) (side view), the control box 82 is formed in a cap shape with an accommodation recess 82a formed therein. The exterior shape is formed in a box shape, and includes a top plate portion 83 formed in a rectangular shape, and a side plate portion 84 extending in a direction substantially orthogonal to the top plate portion 83 from the peripheral portion of the top plate portion 83. Have. An inner space surrounded by the top plate portion 83 and the side plate portion 84 is an accommodation recess 82a.

  The housing recess 82 a is formed in a rectangular parallelepiped shape, and a rectangular opening 82 b is opened at the bottom of the control box 82. The housing recess 82 a and the opening 82 b have a size that can accommodate the electronic substrate 100. For this reason, the electronic substrate 100 is inserted from the opening 82b and accommodated in the accommodating recess 82a. Locking projections 83a having substantially the same length for attaching the electronic substrate 100 are formed at the four corners of the back surface of the top plate 83 that forms the housing recess 82a. The length of the locking projection 83a is shorter than the depth of the accommodation recess 82a. For this reason, when the electronic substrate 100 is attached to the locking projection 83 a, the electronic substrate 100 is disposed at a position near the inside of the top plate portion 83 and is supported in a state of extending along the top plate portion 83.

  The side plate 84 on one side in the longitudinal direction of the control box 82 is formed with a pair of insertion holes 84a that communicate with the housing recess 82a and are arranged at a predetermined interval in the control box width direction. These insertion holes 84a are holes through which the electric wires connected to the electronic substrate 100 accommodated in the accommodation recess 82a are passed.

  On the outer periphery of the opening 82b of the housing recess 82a, a flange portion 84b having a bottom surface formed in a flat shape and extending outward is formed in an annular shape. When the control box 82 is attached to the attachment plate 71, the flange portion 84 b comes into contact with the attachment plate 71. The bottom surface of the flange portion 84 b extends substantially parallel to the top plate portion 83 of the control box 82. For this reason, when the control box 82 is attached to the attachment plate 71, the top plate portion 83 extends substantially parallel to the attachment plate 71. The side plate portion 84 ′ on the inner side in the control box width direction of the pair of insertion holes 84a does not have the flange portion 84b, and this side plate portion 84 ′ extends to the opening portion 82b of the housing recess 82a.

  Steps 82c are formed at the four corners of the control box 82, and through holes 82d for passing bolts 85 (see FIG. 4B) are provided in the step 82c. By inserting a bolt 85 into this through hole 82d and a through hole provided in the mounting plate 71, and screwing a nut 86 (see FIG. 4B) to a bolt tip protruding from the back side of the mounting plate 71, A control box 82 is attached to the attachment plate 71. When the control box 82 is attached to the attachment plate 71, the electronic substrate 100 accommodated in the control box 82 is maintained in a posture substantially parallel to the attachment plate 71. The posture is toward the worker M who is on the traveling machine body 90.

  When the control box 82 is attached to the attachment plate 71, it is attached via the packing 87 between the flange portion 84 b and the attachment plate 71. As shown in FIG. 5A, the packing 87 is formed in an annular shape like the flange portion 84b, and is formed in a C shape so that the packing 87 is not interposed in the side plate portion 84 ′ between the pair of insertion holes 84a. ing. For this reason, between the front end of the side plate portion 84 ′ between the pair of insertion holes 84a where no packing 87 is interposed and the mounting plate 71, as shown in FIG. A through-hole 88 that communicates with each other is formed. The through hole 88 allows the moisture in the housing recess 82a to be discharged to the outside. The packing 87 is made of elastically deformable rubber, cork rubber, or the like. The control box 82 is integrally formed of resin, synthetic resin (ABS resin, FRP) or the like, and can transmit a command signal transmitted from the wireless command device 60.

  The electronic board 100 accommodated in the control box 82 includes an antenna 101 that receives a command signal from the wireless command device 60, and an electric hydraulic cylinder 57 (see FIG. 1) according to the command signal received by the antenna 101. A control unit 200 that controls the operation of an actuator such as a drive motor is provided. The antenna 101 is formed on the surface side of the electronic substrate 100, and the length of the antenna 101 is set by the wavelength of the electromagnetic wave transmitted from the wireless command device 60.

  4B is further added to the electronic board 100. A board-side electric wire 103 electrically connected to the control unit 102 is connected to the electronic board 100, and a board-side connector 104 is connected to the tip of the board-side electric wire 103. Is attached. The board-side electric wire 103 extends to the outside of the control box through a through hole 84 a provided in the control box 82, the tip side thereof goes around the lower end outside the mounting plate 71, and the board-side connector 104 is connected to the back surface of the mounting plate 71. It is arranged around the lower end of the side. The board-side connector 104 is connected to a drive-side connector 106 attached to the distal end portion of the drive-side electric wire 105 connected to the actuator.

  The control box 82 attached to the attachment plate 71 is covered with a cover 110 as shown in FIGS. 4 (a) and 4 (b). The cover 110 is configured to cover the top plate portion 83 and the side plate portion 84 of the control box 82 and is detachably attached to the attachment plate 71. The cover 110 has an upper wall portion 111 that covers the top plate portion 83 and side wall portions 112 a and 112 b that extend downward from the outer periphery of the upper wall portion 111.

  The upper wall portion 111 is formed in a planar shape, and extends substantially parallel to the top plate portion 83 in a state where the cover 110 is attached to the attachment plate 71. The side wall 112 a that covers the upper side of the control box 82 among the side walls 112 is locked to the peripheral edge of the mounting plate 71 to which the upper side of the control box 82 is attached. A step 113 is formed at the tip of the side wall 112 a, and the step 113 locks the tip of the side wall 112 a to the peripheral edge of the mounting plate 71.

  Side wall part 112b which covers the lower side of control box 82 among side wall parts 112 has stepped part 114 latched to the peripheral part of mounting plate 71 which attached the lower side of control box 82, and the tip of side wall part 112b The portion extends further downward beyond the mounting plate 71 and surrounds the board side connector 104 and the drive side connector 106. Similar to the control box 82, the cover 110 is integrally formed of resin, synthetic resin (ABS resin, FRP) or the like, and can transmit a command signal transmitted from the wireless command device 60.

  As described above, the electronic board 100 accommodated in the wireless reception control device 70 is placed on the side of the worker who has boarded the traveling machine body 90 in the working state of the tilling work machine 1 as shown in FIGS. Since the posture is maintained, when the worker M who has boarded the driver's seat 91 of the traveling machine body 90 faces the agricultural work machine side, the electronic board 100 in the wireless reception control device 70 faces the worker side. The worker M can operate the wireless command device 60 with the wireless command device 60 facing the electronic substrate 100. For this reason, the radio signal transmitted from the radio command device 60 can be reliably received by the electronic substrate 100.

  Further, the control box 82 of the wireless reception control device 70 has the flange portion 84b attached to the attachment plate 71 via the packing 87, so that the opening portion 82b of the accommodating recess 82a can be liquid-tightly closed with respect to the attachment plate 71. . For this reason, the situation where water intrudes into the accommodating recess 82a from between the flange portion 84b and the mounting plate 71 can be suppressed.

  The electronic board 100 is disposed in the vicinity of the inside of the top plate portion 83 of the control box 82 and extends in the vertical direction along the top plate portion 83, so that the electronic substrate 100 is separated from the mounting plate 71. For this reason, even if water intrudes into the accommodating recess 82a from between the mounting plate 71 and the flange portion 84b, the water flows on the mounting plate 71, so that it is possible to prevent the water from adhering to the electronic substrate 100.

  Further, as shown in FIG. 5A, the lower end of the control box 82 is provided with a through hole 88, so that moisture in the accommodation recess 82 a can be discharged, and water adheres to the electronic substrate 100. The situation to do can be suppressed more.

  Furthermore, as shown in FIG. 4B, the control box 82 is covered with a cover 110 that surrounds the top plate portion 83 and the side plate portion 84, so that water is controlled when the tilling work machine 1 is washed. A situation of adhering to the surface side of the box 82 can be prevented. In addition, since the water flow direction changing plate 79 is provided on the back surface of the mounting plate 71, the water flowing from the upper part to the lower side of the back surface of the mounting plate 71 hits the water flow direction changing plate 79 and falls downward. Further, the lower portion of the cover 110 below the water flow direction changing plate 79 in the cover 110 extends further downward beyond the mounting plate 71. For this reason, even if the water at the time of car wash is poured on the lower back side of the mounting plate 71, the water hits the lower part of the cover 110 and bounces off. Therefore, it is possible to reduce the adhesion of water to wiring components such as the board-side connector 104 and the drive-side connector 106 arranged below the back surface side of the mounting plate 71.

  Now, FIG. 6, FIG. 7 (a) (side view), and FIG. 7 (b) (side view) show the tilling work machine 1 removed from the traveling machine body 90 and held by the caster stand 7. FIG. . The posture of the tilling work machine 1 held by the caster stand 7 is further inclined downward in the vertical direction as compared with the posture during the tilling work (see FIG. 2A). For this reason, the cover 110 covering the control box 82 has a posture extending in a substantially vertical direction, and the electronic board 100 accommodated in the control box 82 is similarly in a posture extending in a substantially vertical direction. Therefore, by operating the wireless command device 60 from the front of the tillage work machine 1 with the electronic board facing toward the electronic board, it is the same as when the operator M who has boarded the driver's seat of the traveling machine body 90 operates the wireless command device 60. In addition, the radio signal transmitted from the radio command device 60 can be reliably received by the electronic substrate 100.

  Even when the posture of the control box 82 extends in a substantially vertical direction, the surface side (the top plate portion side and the side plate portion side) of the control box 82 is covered with the cover 110, and the control box 82 is covered with the packing 87 ( Wiring components such as the board-side connector 104 and the drive-side connector 106 that are attached to the attachment plate 71 via the lower side of the control box 82 and are attached to the attachment plate 71 (see FIG. 5A) (see FIG. 4B). Is still covered by the water flow direction changing plate 79 (see FIG. 4B) and the lower portion of the extended cover 110. For this reason, it is possible to suppress the situation where water enters the control box 82 when the tilling machine 1 is washed, and it is possible to reduce the adhesion of water to the wiring components.

  FIG. 8 is a functional block diagram of the radio reception control device 70. The wireless reception control device 70 includes a control unit 200, a storage unit 201, a communication unit 202, and an I / O unit 203. In FIG. 8, the radio reception control device 70 is provided with the power source 204 and the power switch 205. However, a tractor battery can be used as the power source 204, and a tractor key switch can be used as the power switch 205. The I / O unit 203 is connected to the electric hydraulic cylinder 57, the drive motor 46, and the rotation device 44 shown in FIG.

  The communication unit 202 receives and demodulates radio waves from the remote control device 60 via the antenna 101 (in this embodiment, radio waves are used, but will be described using radio waves). The placed command is sent to the control unit 200. Further, it receives a radio wave when the remote control device 60 is started up, and sends ID information carried on the radio wave to the control unit 200. The control unit 200 decodes the command data according to the command data stored in the storage unit 201, and controls the electric hydraulic cylinder 57, the drive motor 46, and the rotation device 44 via the I / O unit 203 according to the command. I do. In addition, the control unit 200 collates the ID extracted from the received radio wave with the ID stored in the storage unit 201, and sends a reply radio wave from the communication unit 202 to the remote control device 60 if they match. The storage unit 201 stores programs, settings, and the like used in the control performed by the control unit 200. Further, the storage unit 201 stores ID information, data of commands for operating the electric hydraulic cylinder 57, the drive motor 46, and the rotation device 44. The I / O unit 203 relays control signals of the electric hydraulic cylinder 57, the drive motor 46, and the rotation device 44 between the control unit 200 and each part. The power source 204 supplies power to the communication unit 202, the control unit 200, the I / O unit 203, and the storage unit 201. The power switch 205 is a switch for turning on / off the power. It is also possible to use a traveling machine (tractor) battery as a power source and a traveling machine (tractor) key switch as a power switch.

  The electric hydraulic cylinder 57 opens and closes the extension work machine body 30. The drive motor 46 is a motor that opens and closes the second extension leveler 36. The rotation device 44 is a device that switches the soiling state and the scraping state by switching the second extension leveler 36 up and down.

  FIG. 9 is an external view of a agricultural machine remote control device (wireless command device) (hereinafter referred to as a remote control device) 60 according to the first embodiment of the present invention. FIG. 10 is a functional block diagram of the remote control device 60. The remote control device 60 includes a power switch 210, a power lamp (LED) 211, a left / right changeover switch 212, left / right mode lamps 213 and 214, work implement opening / closing switches 215 and 216, extension leveler opening / closing switches 217 and 218, a leveler earth shifting switch 219, A leveler costing work switch 220 is provided. In addition, the remote control device 60 includes a control unit 221, a storage unit 222, a communication unit 223, a power source 224, and a buzzer 225. In addition, the communication unit 223 includes an output control unit 226. The left / right changeover switch 212, work implement opening / closing switches 215, 216, extension leveler opening / closing switches 217, 218, leveler shifting control switch 219, and leveler scraping work switch 220, which are switches other than the power switch 210, are collectively referred to as command switches.

  The power switch 210 is a switch for turning on / off the power source 224 of the remote control device 60. When the power switch 210 is pushed, the power is turned on, and when pushed again, the power is turned off. When the power is turned on, the power lamp (LED) 211 is turned on when communication is established in the radio wave range. If communication is not established outside the radio range, a communication error occurs and flashes.

  The left / right changeover switch 212 is a switch for switching between the opening / closing mode of the extension work machine 30 and the opening / closing mode of the second extension leveler 36. The left / right changeover switch 212 switches between opening / closing the extension work machine 30 and left / right operation of the second extension leveler 36. When the switch is pressed, the operation mode can be switched sequentially from left to right, right, left, left and right simultaneously. When the power is turned on, it stands up in the left and right simultaneous mode.

  The left and right mode lamps 213 and 214 turn on the left and right lamps in the left and right simultaneous mode, the right lamp 213 lights in the right mode, and the left lamp 214 lights in the left mode.

  The work machine opening / closing switches 215 and 216 are operated only when they are pressed, and when the extension work machine body 30 is closed and the opening is pushed, the extension work machine body 30 is opened and enters the work state. When the close button is pressed while the extension work machine body 30 is open, the extension work machine body 30 is closed to be in the retracted state. The left / right changeover switch 212 can be opened / closed at the same time on the left and right, only on the right and only on the left.

  The extension leveler opening / closing switches 217 and 218 operate only when pressed, and when the second extension leveler 36 is closed, pressing the open button opens the second extension leveler 36. When the second extension leveler 36 is open, pressing the close button closes the second extension leveler 36. The left / right changeover switch 212 can be opened / closed at the same time on the left and right, only on the right and only on the left.

  The leveler squeezing changeover switch 219 is operated only when it is pressed, and when the squeezing is pushed in the scraped state where the second extension leveler 36 is closed, the leveler 22 and the extension leveler 35 are brought into the squeeze state.

  The leveler scraping operation switch 220 operates only when it is pressed, and when the scraper is pressed in the soiling state, the leveler 22 and the extension leveler 35 are in the scraping state.

  The communication unit 223 puts command data or ID data stored in the storage unit 222 on the radio wave when each switch is pressed via the antenna 227 and transmits it via the antenna 227. In addition, the communication unit 223 receives a signal from the wireless reception control device 70. When each switch is pressed, the control unit 221 reads command data corresponding to each switch stored in the storage unit 222 and sends the command data to the communication unit 223. When the power switch 210 is pressed, ID data stored in the storage unit 222 is sent to the communication unit 223. The storage unit 222 stores programs and settings used in the control performed by the control unit 221. The storage unit 222 also stores ID information, command signal data for operating the electric hydraulic cylinder 57, the drive motor 46, and the rotation device 44. The power source 224 supplies power to the communication unit 223, the control unit 221, and the storage unit 222. The command signal data includes command data for controlling various operations and intensity data of radio wave output.

  The output control unit 226 of the communication unit 223 performs control to output at a strength smaller than the strength of the radio wave output when each switch other than the power switch 210 is operated when the power switch 210 is turned on. In particular, when the power switch 210 is turned on, radio waves are transmitted with a first radio wave output, and when operating switches other than the power switch 210, radio waves are transmitted with a second radio wave output. At this time, the intensity of the first radio wave output is smaller than the intensity of the second radio wave output. The intensity data of the first radio wave output and the intensity data of the second radio wave output are stored in the storage unit 222.

  In addition, the output control unit 226 of the communication unit 223 performs control to adjust and output the intensity of the radio wave output when operating the command switch for each command signal that controls various operations. At that time, the output control unit 226 adjusts the output intensity of the radio wave carrying the command data in accordance with the radio wave output intensity data included in the command signal data.

  FIG. 11 is a functional block diagram of the control unit 221. The control unit 221 includes a CPU 230, a memory 231, an input unit 232, and an output unit 233. The input unit 232 includes a left / right changeover switch 212, work implement opening / closing switches 215, 216, extension leveler opening / closing switches 217, 218, a leveler shifting switch 219, a leveler scraping work switch 220, and a signal from the communication unit 223. Is entered.

  The output unit 233 outputs signals to the communication unit 223, the power lamp 211, the right mode lamp 213, the left mode lamp 214, and the buzzer 225. The storage unit 231 stores a control program 240 that controls the operation when each switch is pressed, and a startup control program 241 that is executed when the power switch 210 is pressed to start the remote control device 60.

  The storage unit 231 includes left switching command data 242a that is a command transmitted when the left switch 212 is pressed, and radio wave output intensity data 242b for setting the radio wave output intensity when the command data is transmitted. A command comprising command signal data 242, right switching command data 243a which is a command to be transmitted when the right switch 212 is pressed, and radio wave output intensity data 243b for setting the radio wave output intensity when the command data is transmitted. A command comprising signal data 243, work machine open command data 244a which is a command sent when the work machine open switch 215 is pressed, and radio wave output intensity data 244b for setting the radio wave output intensity when sending the command data. The signal data 244 and the work implement close switch 216 were pushed Stores command signal data 245 consisting of the radio wave output intensity data 245b for setting the radio wave output intensity when the working machine closed command data 245a is a command to be sent to the can and sends the command data.

  Further, the storage unit 231 sets the extended leveler open command data 246a, which is a command to be transmitted when the extended leveler open switch 217 is pressed, and the radio wave output intensity data 246b for setting the radio wave output intensity when sending the command data. Command signal data 246, extended leveler closing command data 247a which is a command transmitted when the extension leveler closing switch 218 is pressed, and radio wave output intensity data for setting the radio wave output intensity when sending the command data. From command signal data 247 comprising 247b, leveler squeezing switching command data 248a to be transmitted when the leveler squeezing changeover switch 219 is pressed, and radio wave output intensity data 248b for setting the radio wave output intensity at the time of sending the command data Command signal data 248, Storing command signal data 249 consisting of the radio wave output intensity data 249b for setting the radio wave output intensity when the leveler puddling Task Command data 249a and sends the command data to be transmitted when Bella puddling work switch 220 is pressed.

  As the above-mentioned radio wave output intensity data, a small value, for example, 0. 0 is set as the radio wave output intensity data in the case of an operation with a high risk such as a third party near the work implement being pinched or caught. If the operator does not go near the work machine, the radio wave with the command is prevented from reaching the wireless reception control device 70, and a third party near the work machine is pinched or caught When the operation is low, the radio wave output intensity data is set to a large value, for example, 1 mW, so that the radio wave carrying the command reaches the radio reception control device 70 even when the operator is away from the work machine. To do.

  Specifically, the radio wave output intensity data 244b for setting the radio wave output intensity when sending the work machine open command data 244a which is a command to be sent when the work machine open switch 215 is pressed is, for example, 0.1 mW. The radio wave output intensity data 245b for setting the radio wave output intensity when sending the work machine close command data 245a, which is a command to be transmitted when the work machine close switch 216 is pressed, is set to 0.1 mW, for example. Set to a small value.

  Further, the radio wave output intensity data 246b for setting the radio wave output intensity when sending the extended leveler open command data 246a which is a command to be transmitted when the extended leveler open switch 217 is pressed is set to a large value of 1 mW, for example, The radio wave output intensity data 247b for setting the radio wave output intensity when sending the extended leveler close command data 247a that is a command to be transmitted when the extended leveler close switch 218 is pressed is set to a large value of 1 mW, for example, The radio wave output intensity data 248b for setting the radio wave output intensity when sending the leveler squeezing switch command data 248a to be transmitted when the changeover switch 219 is pressed is set to 1 mW, for example.

  In addition, the storage unit 231 stores first radio wave output intensity data 250, second radio wave output intensity data 251, and ID data 252.

  In the “control program” 240, for example, when the opening 215 of the work implement opening / closing switch 215 is pressed, the CPU 230 reads the work implement opening command signal data 244 stored in the storage unit 231, and the output unit 233 sends the data to the communication unit 223. The data is transmitted, and the communication unit 223 places the work machine opening command data 244a on the carrier wave and transmits it from the antenna 227. At this time, the output control unit 226 of the communication unit 223 sets the output of the radio wave to be transmitted based on the radio wave output intensity data 244b.

  The communication unit 202 in the wireless reception control device 70 receives and demodulates the radio wave via the antenna 101, sends work machine opening command data to the control unit 200, and the control unit 200 decodes the command data, A work machine open command is executed, the electric hydraulic cylinder 57 is operated via the I / O unit 203, and the extension work machine body 30 is opened and closed. The other switches of the remote control device 60 are operated in the same manner.

The “start-up control program” 241 is a program that is executed when the power is turned on. When the power is turned on, a command for transmitting radio waves is transmitted from the control unit 221 to the communication unit 223. At that time, first radio wave output data (for example, 0.2 mW) is sent to the output control unit 226 of the communication unit 223. At this time, the ID data is also placed on the radio wave. As a result, the communication unit 223 transmits the first radio wave output radio wave via the antenna 227. When a reply radio wave from the radio reception control device 70 is not received after a predetermined time, that is, when the radio reception control device 70 does not receive radio waves, the radio reception control device 70 is off, or the ID is different, the power lamp ( LED) 211 blinks.

  When the radio wave reaches the radio reception control device 70, the radio reception control device 70 extracts the ID data from the received radio wave and collates the ID data with the ID data in the storage unit 201. When the ID data does not match, the reply radio wave is not sent, and when the ID data matches, the reply radio wave is sent. When receiving a radio wave from the radio reception control device 70, the remote control device 60 turns on the power lamp (LED) 211.

  As described above, the work machine is controlled by operating the remote control device 60.

  Next, a procedure executed by the startup control program 241 in the remote controller 60 will be described with reference to the flowchart of FIG. The start-up control program is started when the operator turns on the power of the remote control device 60. The control program for the radio reception control device 70 is also started when the radio reception control device 70 is turned on.

Step S <b> 11: The control unit 221 reads ID data from the storage unit 231 and sends it to the communication unit 223.
Step S12: The control unit 221 sends the first radio wave output data of the storage unit 231 to the output control unit 226 of the communication unit 223. The communication unit 223 puts ID data on the radio wave, and the output control unit 226 uses the first radio wave output data. The output is controlled from the antenna 227 so as to be output.

Step S13: The control unit 221 determines whether or not a reply radio wave from the wireless reception control device 70 has been received.
Step S14: In step S13, if the reply radio wave is not received, the power lamp (LED) 211 is blinked.

  Step S15: It is determined whether or not a power-off condition has been met. Here, the power-off condition is whether the power switch is pressed, no operation is continued for a predetermined time (for example, 5 minutes), or key input is continued for a predetermined time (for example, 2 minutes) or more. If it is not a power-off condition, step S13 is executed. If the power-off condition is satisfied, step S25 is executed to turn off the power.

Step S16: The radio reception control device 70 determines whether or not a radio wave from the remote control device 60 has been received. If not received, return. Thus, the reception interrupt process is terminated.
Step S17: If the radio wave from the remote control device 60 is received in step S16, the communication unit 202 extracts the ID data from the received radio wave and sends it to the control unit 200.

Step S18: The control unit 200 collates the ID data stored in the storage unit 201 with the ID data from the received radio wave.
Step S19: The control unit 200 determines whether or not the ID data collated in step S18 matches. If the ID data does not match, the process returns. Thus, the reception interrupt process is terminated.

Step S20: If the ID data match in step S19, the control unit 200 transmits a reply radio wave from the communication unit 202. Then, the process returns to end the reception interrupt process.
Step S21: When the control unit 221 of the remote control device 60 receives the radio wave from the wireless reception control device 70 by the communication unit 223, the power lamp (LED) 211 is turned on.

Step S22: The control unit 221 turns on the buzzer 225.
Step S23: The control unit 221 sends the second radio wave output intensity data from the storage unit 231 to the output control unit 226 of the communication unit 223, and the communication unit 223 converts the radio wave output to the second radio wave output intensity by the output control unit 226. To do.

Step S24: It is determined whether or not a power-off condition has been met. Here, the power-off condition is whether the power switch is pressed, no operation is continued for a predetermined time (for example, 5 minutes), or key input is continued for a predetermined time (for example, 2 minutes) or more. If it is not a power-off condition, step S24 is executed again. This establishes a standby state until a power-off condition such as pressing the power switch is established or each switch is pressed.
Step S25: If the power-off condition is satisfied in step S24, the power is turned off and the program is terminated.

As described above, when the power is turned on, the intensity of the output radio wave is the first radio wave output intensity of about 0.2 mW, and the radio wave output intensity is low. Even if the radio wave does not reach the device 70 and the operation command switch is turned on without the operator's intention, at the same time when the power is turned on, the possibility of the operation of the agricultural machine unintended by the worker being eliminated is eliminated. Can do. As a result, it is possible to prevent an unintended operation when the command switch is pressed when the power is on, and to ensure safety.

  Next, the procedure when each switch is pressed will be described with reference to the flowchart of FIG. Here, a case where the opening of the work implement opening / closing switch is pressed will be described as an example. The procedure when the other switches are pressed is different from the command corresponding to each switch, but the procedure is almost the same, so the description is omitted.

Step S31: The control unit 221 checks whether or not the work implement opening / closing switch 215 is pushed by the worker.
Step S32: When the work implement opening / closing switch 215 is pressed, the CPU 230 reads work implement open command signal data stored in the storage unit 231.

Step S33: The control unit 221 sends work implement opening command signal data to the communication unit 222, and the communication unit 223 places the work implement open command data 244a on the carrier wave.
Step S34: The output control unit 226 of the communication unit 223 sets the output of the radio wave to be transmitted based on the radio wave output intensity data 244b.

Step S35: The control unit 221 transmits the radio wave carrying the work implement opening command data 244a from the communication unit 223 via the antenna 227 with the output intensity set based on the radio wave output intensity data 244b.
Step S36: The communication unit 202 in the wireless reception control device 70 determines whether or not the radio wave has been received via the antenna 101. If no radio wave is received, the process returns and ends this reception interrupt process.

Step S37: If a radio wave is received in step S36, the communication unit 202 transmits a return radio wave.
Step S38: The communication unit 202 extracts work implement opening command data and sends it to the control unit 200.

Step S39: The control unit 200 stores the command data. Then, the process returns to end this reception interrupt process.
Step S40: The control unit 221 of the remote control device 60 determines whether or not a reply radio wave from the wireless reception control device 70 has been received. If no reply wave is received, return. As a result, the interrupt process is terminated. Then, this program is started after a predetermined time, for example, 10 msec.

  Step S41: If a reply radio wave is received in step S40, a reply completion process such as turning on a buzzer is performed, and the process returns.

  The above processing in the remote control device 60 is repeatedly executed every predetermined time, for example, every 10 msec.

  FIG. 13B is a flowchart of timer interrupt processing executed by the control unit 200 of the wireless reception control device 70 every predetermined time, for example, every 20 msec.

Step S42: The control unit 200 checks the command stored in step S37 and decodes the command. In this embodiment, the fact that the work implement opening command is stored is read out.
Step S43: The control unit 200 executes an operation process. In this embodiment, the control unit 200 executes a work machine opening command, operates the electric hydraulic cylinder 57 via the I / O unit 203, and opens the extension work machine body 30. Then return.

  The procedure by other switch operations of the remote control device 60 is executed in substantially the same manner, although the operation is different from the command.

  As described above, in the present embodiment, the intensity of the radio wave that sends commands for various operations is adjusted for each operation. Therefore, when operation at a location far away from the farm work machine is preferable, from a location far away. If it is possible to operate and it is preferable to operate the remote control device after approaching the agricultural machine, it is possible to prevent the operation from a position far away from the agricultural machine. Thereby, the operator can operate various operations of the agricultural machine from a preferable distance, and safety can be improved.

  In this embodiment, the radio wave output intensity data of the radio wave for sending each command data is set from the viewpoint of the danger to the third party of the operation of the work machine, but the radio wave output intensity data from the viewpoint of work convenience. May be set. For example, when the operator does not need to operate from a place away from the work machine, the radio wave output intensity data is set to a small value, for example, 0.2 mW, and a command is placed if the operator does not go near the work machine. When it is desired to prevent radio waves from reaching the radio reception control device 70 and to operate the work machine from a remote location, the radio wave output intensity data is set to a large value, for example, 1 mW, even if the operator is away from the work machine. Is set so that the radio wave carrying is delivered to the wireless reception control device 70.

  Specifically, the radio wave output intensity data 244b for setting the radio wave output intensity when sending the work machine open command data 244a, which is a command to be sent when the work machine open switch 215 is pressed, is set to a large value of 1 mW, for example. The radio wave output intensity data 245b for setting the radio wave output intensity when sending the work machine close command data 245a, which is a command to be transmitted when the work machine close switch 216 is pressed, is set to a large value of 1 mW, for example. .

  Further, the radio wave output intensity data 246b for setting the radio wave output intensity when sending the extended leveler open command data 246a, which is a command to be transmitted when the extended leveler open switch 217 is pressed, is a small value of 0.1 mW, for example. The radio wave output intensity data 247b for setting the radio wave output intensity when sending the extended leveler close command data 247a which is a command to be transmitted when the extension leveler close switch 218 is pressed is a small value of 0.1 mW, for example. For example, the radio wave output intensity data 248b for setting the radio wave output intensity when sending the leveler squeezing switch command data 248a to be transmitted when the leveler squeezing changeover switch 219 is pressed is set to 0.1 mW, for example.

  In the present embodiment, the output control unit 226 transmits a radio wave with the first radio wave output when the power switch 210 is turned on, and outputs a second radio wave when operating each switch other than the power switch 210. The radio wave is transmitted at the output. However, not limited to this, when the power is turned on, the radio wave output gradually increases from zero and becomes the second radio wave output when communication is established. Good. As a result, even if the radio reception control device 70 that controls the agricultural machine does not receive radio waves and the operation command switch is turned on without the operator's intention, the agricultural machine is not intended by the operator as soon as the power is turned on. It is possible to eliminate the possibility that the operation is executed. Then, when the command switch is pressed when the power is turned on, an unintended operation can be prevented, and safety can be ensured.

  The configurations, shapes, sizes, and arrangement relationships described in the above embodiments are merely schematically shown to the extent that the present invention can be understood and implemented, and the numerical values and the compositions (materials) of the respective components Is just an example. Therefore, the present invention is not limited to the described embodiments, and can be variously modified without departing from the scope of the technical idea shown in the claims.

1 Tillage work machine (agricultural work machine)
44 Rotating device 46 Drive motor 57 Electric hydraulic cylinder 60 Wireless command device (remote control device)
DESCRIPTION OF SYMBOLS 70 Radio | wireless reception control apparatus 101 Antenna 200 Control part 201 Storage part 202 Communication part 203 I / O unit 204 Power supply 205 Power switch 210 Power switch 221 Control part 222 Storage part 223 Communication part 224 Power supply 226 Output control part

Claims (3)

A radio reception control device that controls the operation of the farm work machine according to a command signal included in a radio wave received by an antenna, provided in a farm work machine attached to the rear part of the traveling machine body, receives a radio wave including the command signal. A remote control device for transmitting,
A power source and a power switch for turning the power source on and off;
A command switch for sending command signals for controlling the various operations of the agricultural machine;
Storage means for storing command signal data for controlling various operations;
Communication means for transmitting a radio wave carrying a command signal when the power switch is in an on state, and transmitting a command signal on the radio wave based on the command signal data when the command switch is turned on;
Control means for reading the command signal data from the storage means and sending the command signal data to the communication means when the command switch is turned on;
A reply radio wave receiving means for receiving a reply radio wave transmitted by the wireless reception control device that has received the radio wave transmitted from the communication means;
Reply completion notification means for notifying that the reply has been completed based on the reply radio wave received by the reply radio wave reception means,
The communication means includes output control means for performing control to adjust and output the intensity of radio waves output when operating the command switch for each command signal for controlling the various operations .
The wireless reception control device uses a battery provided in the traveling aircraft as a power source, and uses a key switch provided in the traveling aircraft as a power switch,
The farm working machine is a tilling work machine for plowing the cultivated soil in a field,
The tillage work machine includes a work machine body extending in the left-right direction, an extension work machine body that is foldably attached to the left and right sides of the work machine body in a vertical direction, and the work machine body and the extension work machine body. A working position where the extension work machine body is stored in an upper position of the work machine body and a side position of the work machine body is operable. And can be rotated between
The rotation mechanism has a rotation cylinder that rotates the extended work machine body between a storage position and a work position;
The operation of the rotating cylinder is controlled by the wireless reception control device.   The remote control device for agricultural work according to claim 1, wherein the command signal data includes command data for controlling the various operations and intensity data of radio wave output.   The remote control device for agricultural machinery according to claim 2, wherein the output control means adjusts the output intensity of the radio wave on which the command data is placed according to the intensity data of the radio wave output included in the command signal data.

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